2 * S-function to support analog inputs on Humusoft MF624 card
4 * Copyright (C) 2013 Michal Kreč <krecmich@fel.cvut.cz>
5 * Copyright (C) 2013 Michal Sojka <sojkam1@fel.cvut.cz>
7 * Department of Control Engineering
8 * Faculty of Electrical Engineering
9 * Czech Technical University in Prague (CTU)
11 * The S-Function for ERT Linux can be distributed in compliance
12 * with GNU General Public License (GPL) version 2 or later.
13 * Other licence can negotiated with CTU.
15 * Next exception is granted in addition to GPL.
16 * Instantiating or linking compiled version of this code
17 * to produce an application image/executable, does not
18 * by itself cause the resulting application image/executable
19 * to be covered by the GNU General Public License.
20 * This exception does not however invalidate any other reasons
21 * why the executable file might be covered by the GNU Public License.
22 * Publication of enhanced or derived S-function files is required
25 * Linux ERT code is available from
26 * http://rtime.felk.cvut.cz/gitweb/ert_linux.git
27 * More CTU Linux target for Simulink components are available at
28 * http://lintarget.sourceforge.net/
30 * sfuntmpl_basic.c by The MathWorks, Inc. has been used to accomplish
31 * required S-function structure.
35 * You must specify the S_FUNCTION_NAME as the name of your S-function
36 * (i.e. replace sfuntmpl_basic with the name of your S-function).
39 #define S_FUNCTION_NAME sfAnalogInput
40 #define S_FUNCTION_LEVEL 2
41 #define MASK_PRM(S) (mxGetScalar(ssGetSFcnParam(S, 0)))
44 * Need to include simstruc.h for the definition of the SimStruct and
45 * its associated macro definitions.
52 #include "mf624_SIMULINK.h"
57 #define my_popcount __builtin_popcount
60 int my_popcount(uint32_t patt)
76 * You should use the following technique to report errors encountered within
79 * ssSetErrorStatus(S,"Error encountered due to ...");
82 * Note that the 2nd argument to ssSetErrorStatus must be persistent memory.
83 * It cannot be a local variable. For example the following will cause
84 * unpredictable errors:
88 * char msg[256]; {ILLEGAL: to fix use "static char msg[256];"}
89 * sprintf(msg,"Error due to %s", string);
90 * ssSetErrorStatus(S,msg);
94 * See matlabroot/simulink/src/sfuntmpl_doc.c for more details.
97 /*====================*
98 * S-function methods *
99 *====================*/
101 /* Function: mdlInitializeSizes ===============================================
103 * The sizes information is used by Simulink to determine the S-function
104 * block's characteristics (number of inputs, outputs, states, etc.).
106 static void mdlInitializeSizes(SimStruct *S)
111 /* See sfuntmpl_doc.c for more details on the macros below */
113 ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
114 if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
115 /* Return if number of expected != number of actual parameters */
116 ssSetErrorStatus(S,"Parameter mismatch");
120 ssSetNumContStates(S, 0);
121 ssSetNumDiscStates(S, 0);
123 ADCCMask = (int)MASK_PRM(S);
125 if(ADCCMask > 255 || ADCCMask < 0) {
126 ssSetErrorStatus(S,"Invalid parameter mask, set to 0-255");
129 ADCChannels = my_popcount((uint32_t)ADCCMask); //Counts number of set bits in ADCCMask
131 if (!ssSetNumInputPorts(S, 0)) return;
135 if (!ssSetNumOutputPorts(S, ADCChannels)) return;
136 for(i=0; i < ADCChannels;i++){
137 ssSetOutputPortWidth(S, i, 1);
139 ssSetNumSampleTimes(S, 1);
144 ssSetNumNonsampledZCs(S, 0);
146 /* Specify the sim state compliance to be same as a built-in block */
147 ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
156 /* Function: mdlInitializeSampleTimes =========================================
158 * This function is used to specify the sample time(s) for your
159 * S-function. You must register the same number of sample times as
160 * specified in ssSetNumSampleTimes.
162 static void mdlInitializeSampleTimes(SimStruct *S)
164 ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
165 ssSetOffsetTime(S, 0, FIXED_IN_MINOR_STEP_OFFSET);
171 #undef MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */
172 #if defined(MDL_INITIALIZE_CONDITIONS)
173 /* Function: mdlInitializeConditions ========================================
175 * In this function, you should initialize the continuous and discrete
176 * states for your S-function block. The initial states are placed
177 * in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
178 * You can also perform any other initialization activities that your
179 * S-function may require. Note, this routine will be called at the
180 * start of simulation and if it is present in an enabled subsystem
181 * configured to reset states, it will be call when the enabled subsystem
182 * restarts execution to reset the states.
184 static void mdlInitializeConditions(SimStruct *S)
187 #endif /* MDL_INITIALIZE_CONDITIONS */
191 #define MDL_START /* Change to #undef to remove function */
192 #if defined(MDL_START)
193 /* Function: mdlStart =======================================================
195 * This function is called once at start of model execution. If you
196 * have states that should be initialized once, this is the place
199 static void mdlStart(SimStruct *S)
204 if (mf624_init(NULL) != 0)
206 #endif /*WITHOUT_HW*/
208 int ADCCMask = (int)MASK_PRM(S);
210 if(ADCCMask > 255 || ADCCMask < 0) {
211 ssSetErrorStatus(S,"Invalid parameter mask, set to 0-255");
214 ADCChannels = my_popcount((uint32_t)ADCCMask); //Counts number of set bits in ADCCMask
216 ssSetIWorkValue(S, 0, ADCChannels);
218 mfst->ADC_enabled = ADCCMask;
219 mfst->ADC_enabled &= 0xFF;
221 mf624_write16(mfst->ADC_enabled, MFST2REG(mfst, 2, ADCTRL_reg));
222 #endif /*WITHOUT_HW*/
224 #endif /* MDL_START */
228 /* Function: mdlOutputs =======================================================
230 * In this function, you compute the outputs of your S-function
233 static void mdlOutputs(SimStruct *S, int_T tid)
236 int ADCChannels = ssGetIWorkValue(S, 0);
241 if (mf624_check(S) != 0)
244 // Activate trigger to start conversion
245 mf624_read16(MFST2REG(mfst, 2, ADSTART_reg));
246 #endif /*WITHOUT_HW*/
248 y = alloca(ADCChannels * sizeof(*y));
250 for(i=0; i < ADCChannels;i++){
251 y[i]=ssGetOutputPortSignal(S,i);
255 // Check if conversion has finished
256 while((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg)) & GPIOC_EOLC_mask)) {
257 for (i = 0; i < 1000; i++) {} // small wait
260 for(i=1; i < ADCChannels;i+=2){
261 res = mf624_read32(MFST2REG(mfst, 2, ADDATA0_reg));
264 *y[i-1] = (real_T) (10.0 * ((int16_t) (res << 2)) / (double) 0x8000);
265 *y[i] = (real_T) (10.0 * ((int16_t) (res1 << 2)) / (double) 0x8000);
268 if(i == ADCChannels){
269 res = mf624_read16(MFST2REG(mfst, 2, ADDATA0_reg));
270 *y[ADCChannels-1]=(real_T)(10.0 * ((int16_t) (res << 2)) / (double) 0x8000);
273 for(i=0; i < ADCChannels; i++){
276 #endif /*WITHOUT_HW*/
281 #undef MDL_UPDATE /* Change to #undef to remove function */
282 #if defined(MDL_UPDATE)
283 /* Function: mdlUpdate ======================================================
285 * This function is called once for every major integration time step.
286 * Discrete states are typically updated here, but this function is useful
287 * for performing any tasks that should only take place once per
290 static void mdlUpdate(SimStruct *S, int_T tid)
293 #endif /* MDL_UPDATE */
297 #undef MDL_DERIVATIVES /* Change to #undef to remove function */
298 #if defined(MDL_DERIVATIVES)
299 /* Function: mdlDerivatives =================================================
301 * In this function, you compute the S-function block's derivatives.
302 * The derivatives are placed in the derivative vector, ssGetdX(S).
304 static void mdlDerivatives(SimStruct *S)
307 #endif /* MDL_DERIVATIVES */
311 /* Function: mdlTerminate =====================================================
313 * In this function, you should perform any actions that are necessary
314 * at the termination of a simulation. For example, if memory was
315 * allocated in mdlStart, this is the place to free it.
317 static void mdlTerminate(SimStruct *S)
321 #endif /*WITHOUT_HW*/
325 /*======================================================*
326 * See sfuntmpl_doc.c for the optional S-function methods *
327 *======================================================*/
329 /*=============================*
330 * Required S-function trailer *
331 *=============================*/
333 #ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
334 #include "simulink.c" /* MEX-file interface mechanism */
336 #include "cg_sfun.h" /* Code generation registration function */